This submission provides code that may be used to replicate results for the study presented in the ASME publication: "Co-Design of an Active Suspension Using Simultaneous Dynamic Optimization". This includes a toolbox for using direct transcription (DT) for simultaneous plant and control system design (co-design), and a code for a demonstration example based on an active automotive suspension. The example results demonstrate that co-design produces designs that are superior to those generated by conventional sequential methods. DT is an established method for optimal control design, but is extended here for the first time to co-design.

Please read README.txt for more details on how to use the toolbox and how to run the demo.

The conference version of the corresponding publication is available from:

The code and results have been improved and expanded since the conference version was published. The code available here corresponds to the journal version of the paper, currently in review for publication in the ASME Journal of Mechanical Design.